kobuki::AccelerationLimiter Class Reference

An acceleration limiter for the kobuki. More...

#include <acceleration_limiter.hpp>

Public Member Functions
	AccelerationLimiter ()
void	init (bool enable_acceleration_limiter, double linear_acceleration_max_=0.5, double angular_acceleration_max_=3.5, double linear_deceleration_max_=-0.5 *1.2, double angular_deceleration_max_=-3.5 *1.2)
bool	isEnabled () const
std::vector< double >	limit (const double &vx, const double &wz)
std::vector< double >	limit (const std::vector< double > &command)
	Limits the input velocity commands if gatekeeper is enabled. More...

Private Attributes
double	angular_acceleration_max
double	angular_deceleration_max
double	command_vx
double	command_wz
bool	is_enabled
short	last_radius
short	last_speed
ecl::TimeStamp	last_timestamp
double	last_vx
double	last_wz
double	linear_acceleration_max
double	linear_deceleration_max

Detailed Description

An acceleration limiter for the kobuki.

This class will check incoming velocity commands and limit them if the change since the last incoming command is great.

Right now, this hasn't got any configurable parameters for the user - that might be an option to provide for users in the future. Ideally

• User can disable this and do their own velocity smoothing outside.
• User can enable this with defaults (fairly high accelerations)
• (Later) User can enable this reconfigure a parameter to suit.

Definition at line 56 of file acceleration_limiter.hpp.

Constructor & Destructor Documentation

AccelerationLimiter()

kobuki::AccelerationLimiter::AccelerationLimiter ( )

inline

Definition at line 66 of file acceleration_limiter.hpp.

Member Function Documentation

init()

void kobuki::AccelerationLimiter::init ( bool  enable_acceleration_limiter, double  linear_acceleration_max_ = 0.5, double  angular_acceleration_max_ = 3.5, double  linear_deceleration_max_ = -0.5*1.2, double  angular_deceleration_max_ = -3.5*1.2  )

inline

Definition at line 77 of file acceleration_limiter.hpp.

isEnabled()

bool kobuki::AccelerationLimiter::isEnabled ( ) const

inline

Definition at line 88 of file acceleration_limiter.hpp.

limit() [1/2]

std::vector<double> kobuki::AccelerationLimiter::limit ( const double &  vx, const double &  wz  )

inline

Definition at line 99 of file acceleration_limiter.hpp.

limit() [2/2]

std::vector<double> kobuki::AccelerationLimiter::limit ( const std::vector< double > &  command )

inline

Limits the input velocity commands if gatekeeper is enabled.

What is the limit?

Parameters

command

: translation and angular velocity components in a 2-dim vector.

Definition at line 97 of file acceleration_limiter.hpp.

Member Data Documentation

angular_acceleration_max

double kobuki::AccelerationLimiter::angular_acceleration_max

private

Definition at line 157 of file acceleration_limiter.hpp.

angular_deceleration_max

double kobuki::AccelerationLimiter::angular_deceleration_max

private

Definition at line 157 of file acceleration_limiter.hpp.

command_vx

double kobuki::AccelerationLimiter::command_vx

private

Definition at line 155 of file acceleration_limiter.hpp.

command_wz

double kobuki::AccelerationLimiter::command_wz

private

Definition at line 155 of file acceleration_limiter.hpp.

is_enabled

bool kobuki::AccelerationLimiter::is_enabled

private

Definition at line 148 of file acceleration_limiter.hpp.

last_radius

short kobuki::AccelerationLimiter::last_radius

private

Definition at line 150 of file acceleration_limiter.hpp.

last_speed

short kobuki::AccelerationLimiter::last_speed

private

Definition at line 149 of file acceleration_limiter.hpp.

last_timestamp

ecl::TimeStamp kobuki::AccelerationLimiter::last_timestamp

private

Definition at line 152 of file acceleration_limiter.hpp.

last_vx

double kobuki::AccelerationLimiter::last_vx

private

Definition at line 154 of file acceleration_limiter.hpp.

last_wz

double kobuki::AccelerationLimiter::last_wz

private

Definition at line 154 of file acceleration_limiter.hpp.

linear_acceleration_max

double kobuki::AccelerationLimiter::linear_acceleration_max

private

Definition at line 156 of file acceleration_limiter.hpp.

linear_deceleration_max

double kobuki::AccelerationLimiter::linear_deceleration_max

private

Definition at line 156 of file acceleration_limiter.hpp.

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The documentation for this class was generated from the following file:

• acceleration_limiter.hpp